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<a href="#nested-classes">Classes</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<a href="classPin__KinDyn-members.html">List of all members</a>  </div>
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<div class="title">Pin_KinDyn Class Reference</div>  </div>
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<p>This class implement the kinematic and dynamics of robot using pinocchio.  
 <a href="classPin__KinDyn.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">the result of inverse kinematic  <a href="structPin__KinDyn_1_1IkRes.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a611e5a3180d568a0d8be21a917ab3880"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">legIdx</a> { <b>left</b>, 
<b>right</b>
 }</td></tr>
<tr class="memdesc:a611e5a3180d568a0d8be21a917ab3880"><td class="mdescLeft">&#160;</td><td class="mdescRight">leg index  <a href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">More...</a><br /></td></tr>
<tr class="separator:a611e5a3180d568a0d8be21a917ab3880"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae93c8e81370ff96aa2dc26ff9c92b0a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">Pin_KinDyn</a> (std::string urdf_pathIn)</td></tr>
<tr class="memdesc:ae93c8e81370ff96aa2dc26ff9c92b0a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classPin__KinDyn.html" title="This class implement the kinematic and dynamics of robot using pinocchio.">Pin_KinDyn</a> object.  <a href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">More...</a><br /></td></tr>
<tr class="separator:ae93c8e81370ff96aa2dc26ff9c92b0a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a432f42a03a22037c6e5372559269a711"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">dataBusRead</a> (<a class="el" href="structDataBus.html">DataBus</a> const &amp;robotState)</td></tr>
<tr class="memdesc:a432f42a03a22037c6e5372559269a711"><td class="mdescLeft">&#160;</td><td class="mdescRight">read data from databus  <a href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">More...</a><br /></td></tr>
<tr class="separator:a432f42a03a22037c6e5372559269a711"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11219e9adc1cdbc5ed664c173d1300a8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">dataBusWrite</a> (<a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
<tr class="memdesc:a11219e9adc1cdbc5ed664c173d1300a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">write data to databus  <a href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">More...</a><br /></td></tr>
<tr class="separator:a11219e9adc1cdbc5ed664c173d1300a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d2d699d8fb1754f980477615515638c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">computeJ_dJ</a> ()</td></tr>
<tr class="memdesc:a3d2d699d8fb1754f980477615515638c"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the jacobian matrix and jacobian time variant matrix  <a href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">More...</a><br /></td></tr>
<tr class="separator:a3d2d699d8fb1754f980477615515638c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fc88a3c811004ff7feb508dce849e65"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">computeDyn</a> ()</td></tr>
<tr class="memdesc:a7fc88a3c811004ff7feb508dce849e65"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the dynmaics coefficient of robot  <a href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">More...</a><br /></td></tr>
<tr class="separator:a7fc88a3c811004ff7feb508dce849e65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd752ffe2b038e1386023d41326574c8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">computeInK_Leg</a> (const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</td></tr>
<tr class="memdesc:afd752ffe2b038e1386023d41326574c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute inverse kinematic of robot legs  <a href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">More...</a><br /></td></tr>
<tr class="separator:afd752ffe2b038e1386023d41326574c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e90245dd880ed9dc08de1e745242e96"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPin__KinDyn_1_1IkRes.html">IkRes</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">computeInK_Hand</a> (const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</td></tr>
<tr class="memdesc:a8e90245dd880ed9dc08de1e745242e96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse Kinematics for hand posture.  <a href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">More...</a><br /></td></tr>
<tr class="separator:a8e90245dd880ed9dc08de1e745242e96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab80c3e1eded085ad3212d533e6508f20"><td class="memItemLeft" align="right" valign="top">Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">integrateDIY</a> (const Eigen::VectorXd &amp;qI, const Eigen::VectorXd &amp;dqI)</td></tr>
<tr class="memdesc:ab80c3e1eded085ad3212d533e6508f20"><td class="mdescLeft">&#160;</td><td class="mdescRight">intergrate the position q with velocity dq, for floating base dynamics  <a href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">More...</a><br /></td></tr>
<tr class="separator:ab80c3e1eded085ad3212d533e6508f20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5268234bf043cf654a03ce51dfa315e1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">workspaceConstraint</a> (Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT)</td></tr>
<tr class="memdesc:a5268234bf043cf654a03ce51dfa315e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">constraint the joint output torques  <a href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">More...</a><br /></td></tr>
<tr class="separator:a5268234bf043cf654a03ce51dfa315e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a61b9dfb8b579bbe132c0f1e48d2b4db7"><td class="memItemLeft" align="right" valign="top">static Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">intQuat</a> (const Eigen::Quaterniond &amp;quat, const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;w)</td></tr>
<tr class="memdesc:a61b9dfb8b579bbe132c0f1e48d2b4db7"><td class="mdescLeft">&#160;</td><td class="mdescRight">integrate quaternion helper function used in intergrateDIY  <a href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">More...</a><br /></td></tr>
<tr class="separator:a61b9dfb8b579bbe132c0f1e48d2b4db7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a6235d4189f80a1b2ccc5cfeb6c549ca3"><td class="memItemLeft" align="right" valign="top">std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a></td></tr>
<tr class="separator:a6235d4189f80a1b2ccc5cfeb6c549ca3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a645b13e20a97675f7d7f88ce32d3e2"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a></td></tr>
<tr class="memdesc:a1a645b13e20a97675f7d7f88ce32d3e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">all the names of the motors  <a href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">More...</a><br /></td></tr>
<tr class="separator:a1a645b13e20a97675f7d7f88ce32d3e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81eda1dcd228a9ab0c1d7de3993e6bf6"><td class="memItemLeft" align="right" valign="top"><a id="a81eda1dcd228a9ab0c1d7de3993e6bf6"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">motorMaxTorque</a></td></tr>
<tr class="memdesc:a81eda1dcd228a9ab0c1d7de3993e6bf6"><td class="mdescLeft">&#160;</td><td class="mdescRight">maximal torques of motors <br /></td></tr>
<tr class="separator:a81eda1dcd228a9ab0c1d7de3993e6bf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b0c660fb563a580dde4f7d21d1737b0"><td class="memItemLeft" align="right" valign="top"><a id="a2b0c660fb563a580dde4f7d21d1737b0"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a></td></tr>
<tr class="memdesc:a2b0c660fb563a580dde4f7d21d1737b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">maximal position of motors <br /></td></tr>
<tr class="separator:a2b0c660fb563a580dde4f7d21d1737b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b23dde50899e66163d9ba2794c27ded"><td class="memItemLeft" align="right" valign="top"><a id="a0b23dde50899e66163d9ba2794c27ded"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a></td></tr>
<tr class="memdesc:a0b23dde50899e66163d9ba2794c27ded"><td class="mdescLeft">&#160;</td><td class="mdescRight">minimal position of motors <br /></td></tr>
<tr class="separator:a0b23dde50899e66163d9ba2794c27ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a697a29a765cf30888bbf5bcd3c30da02"><td class="memItemLeft" align="right" valign="top"><a id="a697a29a765cf30888bbf5bcd3c30da02"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a></td></tr>
<tr class="memdesc:a697a29a765cf30888bbf5bcd3c30da02"><td class="mdescLeft">&#160;</td><td class="mdescRight">last torques of joint <br /></td></tr>
<tr class="separator:a697a29a765cf30888bbf5bcd3c30da02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41fd7d14a83467e248a4392cddafd0d3"><td class="memItemLeft" align="right" valign="top"><a id="a41fd7d14a83467e248a4392cddafd0d3"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a41fd7d14a83467e248a4392cddafd0d3">urdf_path</a></td></tr>
<tr class="memdesc:a41fd7d14a83467e248a4392cddafd0d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">urdf model path <br /></td></tr>
<tr class="separator:a41fd7d14a83467e248a4392cddafd0d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acfbedd4d0d51b70d5841abf29f16f25f"><td class="memItemLeft" align="right" valign="top"><a id="acfbedd4d0d51b70d5841abf29f16f25f"></a>
pinocchio::Model&#160;</td><td class="memItemRight" valign="bottom"><b>model_biped</b></td></tr>
<tr class="separator:acfbedd4d0d51b70d5841abf29f16f25f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4aeb4ee392f40d4f1b75a905500286f6"><td class="memItemLeft" align="right" valign="top"><a id="a4aeb4ee392f40d4f1b75a905500286f6"></a>
pinocchio::Model&#160;</td><td class="memItemRight" valign="bottom"><b>model_biped_fixed</b></td></tr>
<tr class="separator:a4aeb4ee392f40d4f1b75a905500286f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba6977419785158480f4695fd3fec5dc"><td class="memItemLeft" align="right" valign="top"><a id="aba6977419785158480f4695fd3fec5dc"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a></td></tr>
<tr class="memdesc:aba6977419785158480f4695fd3fec5dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">model degree of freedom <br /></td></tr>
<tr class="separator:aba6977419785158480f4695fd3fec5dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acdf0835fded44fbe593855434315dd09"><td class="memItemLeft" align="right" valign="top"><a id="acdf0835fded44fbe593855434315dd09"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_ankle_joint</b></td></tr>
<tr class="separator:acdf0835fded44fbe593855434315dd09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17964f57048d80c30e9302eb627d1be8"><td class="memItemLeft" align="right" valign="top"><a id="a17964f57048d80c30e9302eb627d1be8"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_ankle_joint</b></td></tr>
<tr class="separator:a17964f57048d80c30e9302eb627d1be8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a906af197c73e9bc2567cd3fdd26c47"><td class="memItemLeft" align="right" valign="top"><a id="a7a906af197c73e9bc2567cd3fdd26c47"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>base_joint</b></td></tr>
<tr class="separator:a7a906af197c73e9bc2567cd3fdd26c47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ee3756210eac61d305f8acaa0246a86"><td class="memItemLeft" align="right" valign="top"><a id="a0ee3756210eac61d305f8acaa0246a86"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>r_hip_joint</b></td></tr>
<tr class="separator:a0ee3756210eac61d305f8acaa0246a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15f6c9ca92e4df61e4debb131993f326"><td class="memItemLeft" align="right" valign="top"><a id="a15f6c9ca92e4df61e4debb131993f326"></a>
pinocchio::JointIndex&#160;</td><td class="memItemRight" valign="bottom"><b>l_hip_joint</b></td></tr>
<tr class="separator:a15f6c9ca92e4df61e4debb131993f326"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3334a090a7dc4a7a8bb34e2d331d1353"><td class="memItemLeft" align="right" valign="top"><a id="a3334a090a7dc4a7a8bb34e2d331d1353"></a>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">ddq</a></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Rcur</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">fe_r_pos</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">fe_l_pos</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">hip_l_pos_body</a></td></tr>
<tr class="memdesc:a63a9d828bf82b54e7f6af65267b00b87"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hip position in body frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">fe_r_rot</a></td></tr>
<tr class="memdesc:adcb1509a37999bcbf637a95786b19efa"><td class="mdescLeft">&#160;</td><td class="mdescRight">right foot rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">fe_l_rot</a></td></tr>
<tr class="memdesc:ac4040e935721db8ea7cf0fad90599ad7"><td class="mdescLeft">&#160;</td><td class="mdescRight">left foot rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">base_rot</a></td></tr>
<tr class="memdesc:a743c47fe851c5dee9b852b760e9bf809"><td class="mdescLeft">&#160;</td><td class="mdescRight">base rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">fe_r_rot_body</a></td></tr>
<tr class="memdesc:adbc3d08c55bc3f94acf14cfe7e735eb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">right foot rotation matrix in body frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">fe_l_rot_body</a></td></tr>
<tr class="memdesc:ab48b18384639b211ac70cdb670a6dd90"><td class="mdescLeft">&#160;</td><td class="mdescRight">left foot rotation matrix in body frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">hd_r_rot</a></td></tr>
<tr class="memdesc:a6e72e11b7c2a7c648a9599e9e912a6f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">hd_l_rot</a></td></tr>
<tr class="memdesc:a2406329f82787e92aa8c3cfab10bda70"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">hd_r_rot_body</a></td></tr>
<tr class="memdesc:aa8801df8ff914baf5a07643afe6b80ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand rotation matrix in body frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">hd_l_rot_body</a></td></tr>
<tr class="memdesc:a860130a4374ecd0080a0e68830147f87"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand rotation matrix in body frame <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">dyn_M</a></td></tr>
<tr class="memdesc:a136c294262a7f8a4172c9efb5dec2627"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">dyn_M_inv</a></td></tr>
<tr class="memdesc:ae7e6121409beacc2a4c1f3214012a467"><td class="mdescLeft">&#160;</td><td class="mdescRight">inverse of the dynamic parameters M <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a></td></tr>
<tr class="memdesc:ab64e10d5034313bf4d7fc54e385686ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a></td></tr>
<tr class="memdesc:a1d528b488460f27b8bac70d1e26d9ee1"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">dyn_Ag</a></td></tr>
<tr class="memdesc:a508a92b965d4044c361cc7a41afcb4b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Centroidal Momentum Matrix. <br /></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">dyn_dAg</a></td></tr>
<tr class="memdesc:a87b2bf2c470ab43b90913000ac0d4f65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Centroidal Momentum Matrix time variant. <br /></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">dyn_Non</a></td></tr>
<tr class="memdesc:a77dca70b3681c902798dc281c54a1791"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">CoM_pos</a></td></tr>
<tr class="memdesc:a186ab4dcf146680f38113f9cbd55de24"><td class="mdescLeft">&#160;</td><td class="mdescRight">current com position in world coordinate <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">inertia</a></td></tr>
<tr class="memdesc:a8c15990b1d6a9bfdbeea23bdc7edef0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">current Centroidal Composite Rigid Body Inertia. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class implement the kinematic and dynamics of robot using pinocchio. </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00028">28</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a611e5a3180d568a0d8be21a917ab3880"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a611e5a3180d568a0d8be21a917ab3880">&#9670;&nbsp;</a></span>legIdx</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="classPin__KinDyn.html#a611e5a3180d568a0d8be21a917ab3880">Pin_KinDyn::legIdx</a></td>
        </tr>
      </table>
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<p>leg index </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00102">102</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ae93c8e81370ff96aa2dc26ff9c92b0a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae93c8e81370ff96aa2dc26ff9c92b0a0">&#9670;&nbsp;</a></span>Pin_KinDyn()</h2>

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          <td class="memname">Pin_KinDyn::Pin_KinDyn </td>
          <td>(</td>
          <td class="paramtype">std::string&#160;</td>
          <td class="paramname"><em>urdf_pathIn</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Construct a new <a class="el" href="classPin__KinDyn.html" title="This class implement the kinematic and dynamics of robot using pinocchio.">Pin_KinDyn</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">urdf_pathIn</td><td>urdf path </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00012">12</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00054">ddq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00062">dJ_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00065">dJ_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00066">dJ_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00063">dJ_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00064">dJ_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00053">dq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00091">dyn_C</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00092">dyn_G</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00089">dyn_M</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00090">dyn_M_inv</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00057">J_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00060">J_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00061">J_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00058">J_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00059">J_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00048">model_nv</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00041">motorMaxPos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00040">motorMaxTorque</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00042">motorMinPos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00033">motorName</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00031">motorReachLimit</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00052">q</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00055">Rcur</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00044">tauJointOld</a>.</p>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a7fc88a3c811004ff7feb508dce849e65"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7fc88a3c811004ff7feb508dce849e65">&#9670;&nbsp;</a></span>computeDyn()</h2>

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        <tr>
          <td class="memname">void Pin_KinDyn::computeDyn </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>compute the dynmaics coefficient of robot </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00204">204</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00096">CoM_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00053">dq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00093">dyn_Ag</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00091">dyn_C</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00094">dyn_dAg</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00092">dyn_G</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00089">dyn_M</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00090">dyn_M_inv</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00095">dyn_Non</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00097">inertia</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00052">q</a>.</p>

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<a id="a8e90245dd880ed9dc08de1e745242e96"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e90245dd880ed9dc08de1e745242e96">&#9670;&nbsp;</a></span>computeInK_Hand()</h2>

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      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a> Pin_KinDyn::computeInK_Hand </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>Rdes_L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>Pdes_L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>Rdes_R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>Pdes_R</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Inverse Kinematics for hand posture. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Rdes_L</td><td>left hand rotation matrix in body frame </td></tr>
    <tr><td class="paramname">Pdes_L</td><td>left hand position in body frame </td></tr>
    <tr><td class="paramname">Rdes_R</td><td>right hand rotation matrix in body frame </td></tr>
    <tr><td class="paramname">Pdes_R</td><td>right hand position in body frame </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structPin__KinDyn_1_1IkRes.html" title="the result of inverse kinematic">IkRes</a> </dd></dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00334">334</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00115">Pin_KinDyn::IkRes::err</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00114">Pin_KinDyn::IkRes::itr</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00116">Pin_KinDyn::IkRes::jointPosRes</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00113">Pin_KinDyn::IkRes::status</a>.</p>

<p class="reference">Referenced by <a class="el" href="wbc__priority_8cpp_source.html#l00287">WBC_priority::computeDdq()</a>.</p>

</div>
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<a id="afd752ffe2b038e1386023d41326574c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afd752ffe2b038e1386023d41326574c8">&#9670;&nbsp;</a></span>computeInK_Leg()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a> Pin_KinDyn::computeInK_Leg </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>Rdes_L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>Pdes_L</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>Rdes_R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>Pdes_R</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>compute inverse kinematic of robot legs </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Rdes_L</td><td>left foot rotation matrix in body frame </td></tr>
    <tr><td class="paramname">Pdes_L</td><td>left foot position in body frame </td></tr>
    <tr><td class="paramname">Rdes_R</td><td>right foot rotation matrix in body frame </td></tr>
    <tr><td class="paramname">Pdes_R</td><td>right foot position in body frame </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structPin__KinDyn_1_1IkRes.html" title="the result of inverse kinematic">IkRes</a> </dd></dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00244">244</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00115">Pin_KinDyn::IkRes::err</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00114">Pin_KinDyn::IkRes::itr</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00116">Pin_KinDyn::IkRes::jointPosRes</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00113">Pin_KinDyn::IkRes::status</a>.</p>

</div>
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<a id="a3d2d699d8fb1754f980477615515638c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3d2d699d8fb1754f980477615515638c">&#9670;&nbsp;</a></span>computeJ_dJ()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void Pin_KinDyn::computeJ_dJ </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>compute the jacobian matrix and jacobian time variant matrix </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00121">121</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00069">base_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00082">base_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00062">dJ_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00065">dJ_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00066">dJ_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00063">dJ_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00064">dJ_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00053">dq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00068">fe_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00071">fe_l_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00081">fe_l_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00084">fe_l_rot_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00067">fe_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00070">fe_r_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00080">fe_r_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00083">fe_r_rot_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00073">hd_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00075">hd_l_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00086">hd_l_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00088">hd_l_rot_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00072">hd_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00074">hd_r_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00085">hd_r_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00087">hd_r_rot_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00077">hip_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00079">hip_l_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00076">hip_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00078">hip_r_pos_body</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00057">J_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00060">J_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00061">J_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00058">J_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00059">J_r</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00052">q</a>.</p>

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<a id="a432f42a03a22037c6e5372559269a711"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a432f42a03a22037c6e5372559269a711">&#9670;&nbsp;</a></span>dataBusRead()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void Pin_KinDyn::dataBusRead </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDataBus.html">DataBus</a> const &amp;&#160;</td>
          <td class="paramname"><em>robotState</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>read data from databus </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robotState</td><td></td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00071">71</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00052">DataBus::ddq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00054">ddq</a>, <a class="el" href="data__bus_8h_source.html#l00051">DataBus::dq</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00053">dq</a>, <a class="el" href="data__bus_8h_source.html#l00050">DataBus::q</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00052">q</a>.</p>

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</div>
<a id="a11219e9adc1cdbc5ed664c173d1300a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a11219e9adc1cdbc5ed664c173d1300a8">&#9670;&nbsp;</a></span>dataBusWrite()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void Pin_KinDyn::dataBusWrite </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDataBus.html">DataBus</a> &amp;&#160;</td>
          <td class="paramname"><em>robotState</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>write data to databus </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robotState</td><td></td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00077">77</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00059">DataBus::dJ_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00062">dJ_base</a>, <a class="el" href="data__bus_8h_source.html#l00062">DataBus::dJ_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00065">dJ_hd_l</a>, <a class="el" href="data__bus_8h_source.html#l00063">DataBus::dJ_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00066">dJ_hd_r</a>, <a class="el" href="data__bus_8h_source.html#l00060">DataBus::dJ_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00063">dJ_l</a>, <a class="el" href="data__bus_8h_source.html#l00061">DataBus::dJ_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00064">dJ_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00093">dyn_Ag</a>, <a class="el" href="data__bus_8h_source.html#l00097">DataBus::dyn_Ag</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00091">dyn_C</a>, <a class="el" href="data__bus_8h_source.html#l00096">DataBus::dyn_C</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00094">dyn_dAg</a>, <a class="el" href="data__bus_8h_source.html#l00098">DataBus::dyn_dAg</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00092">dyn_G</a>, <a class="el" href="data__bus_8h_source.html#l00099">DataBus::dyn_G</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00089">dyn_M</a>, <a class="el" href="data__bus_8h_source.html#l00094">DataBus::dyn_M</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00090">dyn_M_inv</a>, <a class="el" href="data__bus_8h_source.html#l00095">DataBus::dyn_M_inv</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00095">dyn_Non</a>, <a class="el" href="data__bus_8h_source.html#l00100">DataBus::dyn_Non</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00068">fe_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00071">fe_l_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00071">DataBus::fe_l_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00065">DataBus::fe_l_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00081">fe_l_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00084">fe_l_rot_body</a>, <a class="el" href="data__bus_8h_source.html#l00077">DataBus::fe_l_rot_L</a>, <a class="el" href="data__bus_8h_source.html#l00068">DataBus::fe_l_rot_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00067">fe_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00070">fe_r_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00070">DataBus::fe_r_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00064">DataBus::fe_r_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00080">fe_r_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00083">fe_r_rot_body</a>, <a class="el" href="data__bus_8h_source.html#l00076">DataBus::fe_r_rot_L</a>, <a class="el" href="data__bus_8h_source.html#l00067">DataBus::fe_r_rot_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00073">hd_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00075">hd_l_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00088">DataBus::hd_l_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00084">DataBus::hd_l_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00086">hd_l_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00088">hd_l_rot_body</a>, <a class="el" href="data__bus_8h_source.html#l00090">DataBus::hd_l_rot_L</a>, <a class="el" href="data__bus_8h_source.html#l00086">DataBus::hd_l_rot_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00072">hd_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00074">hd_r_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00087">DataBus::hd_r_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00083">DataBus::hd_r_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00085">hd_r_rot</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00087">hd_r_rot_body</a>, <a class="el" href="data__bus_8h_source.html#l00089">DataBus::hd_r_rot_L</a>, <a class="el" href="data__bus_8h_source.html#l00085">DataBus::hd_r_rot_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00077">hip_l_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00079">hip_l_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00073">DataBus::hip_l_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00075">DataBus::hip_l_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00076">hip_r_pos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00078">hip_r_pos_body</a>, <a class="el" href="data__bus_8h_source.html#l00072">DataBus::hip_r_pos_L</a>, <a class="el" href="data__bus_8h_source.html#l00074">DataBus::hip_r_pos_W</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00097">inertia</a>, <a class="el" href="data__bus_8h_source.html#l00106">DataBus::inertia</a>, <a class="el" href="data__bus_8h_source.html#l00054">DataBus::J_base</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00057">J_base</a>, <a class="el" href="data__bus_8h_source.html#l00057">DataBus::J_hd_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00060">J_hd_l</a>, <a class="el" href="data__bus_8h_source.html#l00058">DataBus::J_hd_r</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00061">J_hd_r</a>, <a class="el" href="data__bus_8h_source.html#l00055">DataBus::J_l</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00058">J_l</a>, <a class="el" href="data__bus_8h_source.html#l00056">DataBus::J_r</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00059">J_r</a>.</p>

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<a id="ab80c3e1eded085ad3212d533e6508f20"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab80c3e1eded085ad3212d533e6508f20">&#9670;&nbsp;</a></span>integrateDIY()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::VectorXd Pin_KinDyn::integrateDIY </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>qI</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>dqI</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>intergrate the position q with velocity dq, for floating base dynamics </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">qI</td><td>q to integrate </td></tr>
    <tr><td class="paramname">dqI</td><td>dq to intergrate </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Eigen::VectorXd </dd></dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00185">185</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8cpp_source.html#l00165">intQuat()</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00048">model_nv</a>.</p>

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<a id="a61b9dfb8b579bbe132c0f1e48d2b4db7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a61b9dfb8b579bbe132c0f1e48d2b4db7">&#9670;&nbsp;</a></span>intQuat()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::Quaterniond Pin_KinDyn::intQuat </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Quaterniond &amp;&#160;</td>
          <td class="paramname"><em>quat</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>w</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>integrate quaternion helper function used in intergrateDIY </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">quat</td><td>quaternion to be integrate </td></tr>
    <tr><td class="paramname">w</td><td>angle velocity omega </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Eigen::Quaterniond </dd></dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00165">165</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00055">Rcur</a>.</p>

<p class="reference">Referenced by <a class="el" href="pino__kin__dyn_8cpp_source.html#l00185">integrateDIY()</a>.</p>

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<a id="a5268234bf043cf654a03ce51dfa315e1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5268234bf043cf654a03ce51dfa315e1">&#9670;&nbsp;</a></span>workspaceConstraint()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void Pin_KinDyn::workspaceConstraint </td>
          <td>(</td>
          <td class="paramtype">Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>qFT</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>tauJointFT</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>constraint the joint output torques </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">qFT</td><td>current generalized coordinate q </td></tr>
    <tr><td class="paramname">tauJointFT[out]</td><td>joint torques </td></tr>
  </table>
  </dd>
</dl>
<dl class="section attention"><dt>Attention</dt><dd>must call <a class="el" href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65" title="compute the dynmaics coefficient of robot">computeDyn()</a> first! </dd></dl>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8cpp_source.html#l00420">420</a> of file <a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a>.</p>

<p class="reference">References <a class="el" href="pino__kin__dyn_8h_source.html#l00041">motorMaxPos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00042">motorMinPos</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00033">motorName</a>, <a class="el" href="pino__kin__dyn_8h_source.html#l00031">motorReachLimit</a>, and <a class="el" href="pino__kin__dyn_8h_source.html#l00044">tauJointOld</a>.</p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a1a645b13e20a97675f7d7f88ce32d3e2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1a645b13e20a97675f7d7f88ce32d3e2">&#9670;&nbsp;</a></span>motorName</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">const std::vector&lt;std::string&gt; Pin_KinDyn::motorName</td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Initial value:</b><div class="fragment"><div class="line">= {<span class="stringliteral">&quot;J_arm_l_01&quot;</span>, <span class="stringliteral">&quot;J_arm_l_02&quot;</span>, <span class="stringliteral">&quot;J_arm_l_03&quot;</span>, <span class="stringliteral">&quot;J_arm_l_04&quot;</span>, <span class="stringliteral">&quot;J_arm_l_05&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_arm_l_06&quot;</span>, <span class="stringliteral">&quot;J_arm_l_07&quot;</span>, <span class="stringliteral">&quot;J_arm_r_01&quot;</span>, <span class="stringliteral">&quot;J_arm_r_02&quot;</span>, <span class="stringliteral">&quot;J_arm_r_03&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_arm_r_04&quot;</span>, <span class="stringliteral">&quot;J_arm_r_05&quot;</span>, <span class="stringliteral">&quot;J_arm_r_06&quot;</span>, <span class="stringliteral">&quot;J_arm_r_07&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_head_yaw&quot;</span>, <span class="stringliteral">&quot;J_head_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_pitch&quot;</span>, <span class="stringliteral">&quot;J_waist_roll&quot;</span>, <span class="stringliteral">&quot;J_waist_yaw&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_hip_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>, <span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>,</div>
<div class="line">                                                <span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>}</div>
</div><!-- fragment -->
<p>all the names of the motors </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00033">33</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="pino__kin__dyn_8cpp_source.html#l00012">Pin_KinDyn()</a>, and <a class="el" href="pino__kin__dyn_8cpp_source.html#l00420">workspaceConstraint()</a>.</p>

</div>
</div>
<a id="a6235d4189f80a1b2ccc5cfeb6c549ca3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6235d4189f80a1b2ccc5cfeb6c549ca3">&#9670;&nbsp;</a></span>motorReachLimit</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;bool&gt; Pin_KinDyn::motorReachLimit</td>
        </tr>
      </table>
</div><div class="memdoc">
<p>whether motors have reached their limit </p>

<p class="definition">Definition at line <a class="el" href="pino__kin__dyn_8h_source.html#l00031">31</a> of file <a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="pino__kin__dyn_8cpp_source.html#l00012">Pin_KinDyn()</a>, and <a class="el" href="pino__kin__dyn_8cpp_source.html#l00420">workspaceConstraint()</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="pino__kin__dyn_8h_source.html">pino_kin_dyn.h</a></li>
<li><a class="el" href="pino__kin__dyn_8cpp_source.html">pino_kin_dyn.cpp</a></li>
</ul>
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